False target suppression method and device, electronic device, storage medium, program product

Abstract

The disclosed embodiments relate to the technical field of radar signal joint detection, and provide a false target suppression method and device, electronic device, storage medium, and program product. By statistically analyzing the altitudes of real targets and false targets with equal signal-to-noise ratios and situation information such as the distances from each radar node, the weight of each target is calculated using the situation information, and the weighted geometric center of the target with equal signal-to-noise ratio is calculated based on the weight. The weighted geometric center is used to determine the position of the real target, thereby effectively improving the accuracy of false target elimination and further improving the detection performance of the radar system.

Description

Technical Field

[0001] The present disclosure relates to the technical field of radar signal joint detection, and in particular to a false target suppression method and device, electronic equipment, storage medium, and program product. Background Art

[0002] Rasterized joint detection is a radar multi-channel signal fusion detection method, which divides the space into many grid areas, aligns the echo signals of each channel with each spatial grid according to the relative sensor position of each area and the two-way delay of the signal, and completes the signal accumulation, and then completes the target detection based on the signal accumulation results.

[0003] Due to the different positions and viewing angles of the radars, the shapes of the spatial units are complex and irregular, and the grid units can only approximate the spatial units. This results in the target signal being registered to multiple grids near the target's true position at the same time during the signal space-time registration process, forming multiple mirror targets with the same signal-to-noise ratio (SNR) as the real target. These mirror targets are false targets with the same SNR as the real target. On this basis, in order to improve the detection performance, false targets need to be screened.

[0004] At present, the false target elimination method of grid detection usually selects the first grid as the real target according to the grid storage order, such as Figure 1 As shown, the technical solution includes the following basic steps:

[0005] Step S00: aligning each channel signal of each sensor to each spatial grid.

[0006] Step S01: Count the SNR value of each channel of each grid and the sum of the SNR values ​​of all channels, that is, count the SNR value of each grid, each channel and the sum of the SNR values ​​of all channels.

[0007] Step S02: Screen target grids that meet the requirements according to the preset SNR threshold and the threshold of the number of channels that exceed the SNR threshold.

[0008] Step S03: sort the target grids that meet the requirements in descending order of SNR and value.

[0009] Step S04: Save the first grid information to the target set in the storage order, clear the echo signal values ​​of each channel corresponding to the grid, and eliminate the grid information from the target grid.

[0010] Step S05: recalculate the sum of the SNR value of each target grid and the SNR values ​​of all channels.

[0011] Step S06: Repeat the process of step 02 to step 04 until there is no more target grid that meets the conditions.

[0012] Step S07: At this point, the grid information stored in the target set is the real target information.

[0013] However, the first target selected by the above-mentioned grid detection false target elimination method for sequential storage is not necessarily the real target, which makes it impossible to distinguish between false targets and real targets with equal signal-to-noise ratios, resulting in a decrease in detection performance. Summary of the invention

[0014] The present disclosure aims to solve at least one of the problems existing in the prior art and provides a false target suppression method and device, electronic equipment, storage medium, and program product.

[0015] In one aspect of the present disclosure, a false target suppression method is provided, the false target suppression method comprising:

[0016] Read the radar echo data of each channel to form a data matrix, divide the multi-radar joint detection common view area into a plurality of spatial grids, and align each channel signal with each of the spatial grids based on the data matrix;

[0017] Calculating the signal-to-noise ratio of each channel signal of each of the spatial grids and the sum of the signal-to-noise ratios of all channel signals according to the signal registration result;

[0018] According to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal and the channel number threshold, the target grids that meet the requirements are screened to form a target grid array;

[0019] Sorting step: sorting the elements in the target grid array in descending order according to the signal-to-noise ratio and value;

[0020] Selecting a spatial grid having the same signal-to-noise ratio and value as the first element in the target grid array as a candidate grid, and constructing a target distance weight function of each candidate grid according to the distance information from each candidate grid to each radar node;

[0021] Calculating the weighted geometric center of each candidate grid based on the target distance weight function and the pre-constructed target height weight function;

[0022] Selecting the candidate grid with the smallest straight-line distance to the weighted geometric center as the final grid, storing the target information of the final grid into the target set, setting the echo value corresponding to each channel in the data matrix corresponding to the final grid to zero, and clearing the final grid from the target grid array;

[0023] Calculating the signal-to-noise ratio value of each channel signal of each target grid in the target grid array and the sum of the signal-to-noise ratios of all channel signals according to the data matrix;

[0024] According to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal and the channel number threshold, a new target grid that meets the requirements is selected from the target grid array;

[0025] Determine whether the new target grid exists: if so, return to the sorting step; if not, take the target information in the target set as the real target information.

[0026] Optionally, constructing a target distance weight function for each candidate grid according to distance information from each candidate grid to each radar node includes:

[0027] Respectively calculating the position distance between each candidate grid and the radar node of its corresponding channel;

[0028] Based on the position distance, respectively calculating the average distance from each candidate grid to each radar node;

[0029] Based on the average distance corresponding to each of the candidate grids, the target distance weight function of each of the candidate grids is constructed.

[0030] Optionally, the calculating the weighted geometric center of each candidate grid based on the target distance weight function and a pre-constructed target height weight function includes:

[0031] According to the following relationship, the longitude Jp, latitude Wp, and altitude Gp of the weighted geometric center are calculated respectively:

[0032] ;

[0033] ;

[0034] ;

[0035] in, represents the central longitude of the i-th candidate grid; Represents the central latitude of the i-th candidate grid; Represents the center height of the i-th candidate grid; represents the target height weight function of the i-th candidate grid, and , L represents the lowest flight altitude among all target flight altitudes recorded in the historical situation information, and H represents the highest flight altitude among all target flight altitudes recorded in the historical situation information. represents the average flight altitude, Represents the sum of the height values ​​of all detected targets in the historical situation information, Indicates the number of all detected targets in the historical situation information; represents the average distance from the i-th candidate grid to each radar node; represents the target distance weight function of the i-th candidate grid, and , It represents the maximum value of the average distances from each candidate grid to each radar node; i represents the number and the value range of i is 1 to M, and M represents the total number of candidate grids.

[0036] Optionally, dividing the multi-radar joint detection common view area into a plurality of spatial grids, and registering each channel signal with each of the spatial grids based on the data matrix, comprises:

[0037] Dividing the multi-radar joint detection common view area into a plurality of spatial grids in three-dimensional space according to preset longitude intervals, latitude intervals, and altitude intervals;

[0038] According to the azimuth angle, elevation angle and straight-line distance corresponding to each of the spatial grids and each radar node, the distance unit in the data matrix corresponding to each of the spatial grids is calculated to complete the registration of each of the channel signals with each of the spatial grids.

[0039] Optionally, the method of screening target grids that meet the requirements according to a preset signal-to-noise ratio and value threshold, a signal-to-noise ratio value threshold of each channel signal, and a channel number threshold to form a target grid array includes:

[0040] Compare the signal-to-noise ratio value of each channel signal of each of the spatial grids with the signal-to-noise ratio value threshold of each channel signal, and count the number of channels that exceed the threshold;

[0041] Comparing the signal-to-noise ratio and value of each of the spatial grids with the signal-to-noise ratio and value threshold;

[0042] Comparing the number of channels that have passed the threshold with the channel number threshold;

[0043] The spatial grids whose number of channels exceeding the threshold is not less than the channel number threshold and whose signal-to-noise ratio value is not less than the signal-to-noise ratio value threshold are selected as target grids, and each of the target grids is saved as the target grid array.

[0044] Optionally, the selecting a new target grid that meets the requirements from the target grid array according to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal, and the channel number threshold includes:

[0045] Compare the signal-to-noise ratio value of each channel signal of each target grid in the target grid array with the signal-to-noise ratio value threshold of each channel signal, and count the number of channels that exceed the threshold;

[0046] Comparing the signal-to-noise ratio and value of each target grid in the target grid array with the signal-to-noise ratio and value threshold;

[0047] Comparing the number of channels that have passed the threshold with the channel number threshold;

[0048] The target grid in the target grid array whose number of channels exceeding the threshold is not less than the channel number threshold and whose signal-to-noise ratio value is not less than the signal-to-noise ratio value threshold is selected as the new target grid.

[0049] Another aspect of the present disclosure provides a false target suppression device, the false target suppression device comprising:

[0050] A registration module is used to read the radar echo data of each channel to form a data matrix, divide the multi-radar joint detection common view area into multiple space grids, and register each channel signal with each of the space grids based on the data matrix;

[0051] A first calculation module is used to calculate the signal-to-noise ratio value of each channel signal of each of the spatial grids and the sum of the signal-to-noise ratios of all channel signals according to the signal registration result;

[0052] The first screening module is used to screen target grids that meet the requirements according to a preset signal-to-noise ratio and value threshold, a signal-to-noise ratio value threshold of each channel signal, and a channel number threshold to form a target grid array;

[0053] A sorting module, used to perform a sorting step: sorting each element in the target grid array in descending order according to the signal-to-noise ratio and value;

[0054] A first selection module is used to select a spatial grid having the same signal-to-noise ratio and value as the first element in the target grid array as a candidate grid, and construct a target distance weight function of each candidate grid according to the distance information from each candidate grid to each radar node;

[0055] A weighted geometric center calculation module, used to calculate the weighted geometric center of each candidate grid based on the target distance weight function and the pre-constructed target height weight function;

[0056] A second selection module is used to select the candidate grid with the smallest straight-line distance to the weighted geometric center as the final grid, store the target information of the final grid into a target set, set the echo value corresponding to each channel in the data matrix corresponding to the final grid to zero, and clear the final grid from the target grid array;

[0057] A second calculation module, used for calculating the signal-to-noise ratio value of each channel signal of each target grid in the target grid array and the sum of the signal-to-noise ratios of all channel signals according to the data matrix;

[0058] A second screening module is used to screen new target grids that meet the requirements from the target grid array according to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal and the channel number threshold;

[0059] The judging module is used to judge whether the new target grid exists: if so, the sorting module is started to execute the sorting step; if not, the target information in the target set is used as the real target information.

[0060] Another aspect of the present disclosure provides an electronic device, including:

[0061] at least one processor; and,

[0062] a memory communicatively connected to at least one processor; wherein,

[0063] The memory stores instructions that can be executed by at least one processor. The instructions are executed by the at least one processor so that the at least one processor can execute the false target suppression method described above.

[0064] Another aspect of the present disclosure provides a computer-readable storage medium storing a computer program, which implements the false target suppression method described above when executed by a processor.

[0065] Another aspect of the present disclosure provides a computer program product, including a computer program, which implements the false target suppression method described above when the computer program is executed by a processor.

[0066] Compared with the prior art, the present invention calculates the weight of each target by counting the altitude of real targets and false targets with equal SNR and situation information such as the distance from each radar node, and calculates the weighted geometric center of the equal SNR target based on the weight. The weighted geometric center is used to determine the position of the real target, which effectively improves the accuracy of false target elimination and further improves the detection performance of the radar system. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0068] Figure 1 A flow chart of a method for eliminating false targets in grid detection in the prior art provided by the present disclosure;

[0069] Figure 2A flowchart of a false target suppression method provided by one embodiment of the present disclosure;

[0070] Figure 3 A schematic structural diagram of a false target suppression device provided by another embodiment of the present disclosure;

[0071] Figure 4 A schematic structural diagram of an electronic device provided in another embodiment of the present disclosure. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. However, it can be understood by those skilled in the art that in each embodiment of the present disclosure, many technical details are proposed in order to enable readers to better understand the present disclosure. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed for protection in the present disclosure can also be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present disclosure. The various embodiments can be combined and referenced with each other without contradiction.

[0073] refer to Figure 2 One embodiment of the present disclosure relates to a false target suppression method, comprising:

[0074] Step S101, reading radar echo data of each channel to form a data matrix, dividing the multi-radar joint detection common view area into multiple space grids, and aligning each channel signal with each space grid based on the data matrix.

[0075] Specifically, step S101 may include: reading radar echo data of each channel to form a data matrix E; dividing the multi-radar joint detection common view area into multiple spatial grids in three-dimensional space according to preset longitude intervals, latitude intervals, and altitude intervals; calculating the distance unit in the data matrix E corresponding to each spatial grid according to the azimuth, pitch angle, and straight-line distance corresponding to each spatial grid and each radar node, and completing the alignment of each channel signal with each spatial grid.

[0076] Step S102: Calculate the signal-to-noise ratio value of each channel signal of each spatial grid and the sum of the signal-to-noise ratios of all channel signals according to the signal registration result.

[0077] Specifically, the signal-to-noise ratio value of each channel signal of the spatial grid can be calculated according to the following relationship:

[0078] .

[0079] Where i represents the number of the spatial grid. Ch is the signal channel index, which is used to represent the number of the channel signal corresponding to the spatial grid. Represents the signal-to-noise ratio value of the Chth channel signal corresponding to the i-th spatial grid. is the signal amplitude of the Chth channel signal corresponding to the i-th spatial grid. is the noise amplitude of the Chth channel signal corresponding to the i-th spatial grid.

[0080] On this basis, the signal-to-noise ratio and value of all channel signals of the spatial grid can be calculated according to the following relationship:

[0081] .

[0082] Where N represents the total number of channels. Represents the signal-to-noise ratio and value of all channel signals of the i-th spatial grid.

[0083] Step S103, according to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal and the channel number threshold, the target grids that meet the requirements are screened to form a target grid array.

[0084] Specifically, step S103 can be based on the preset signal-to-noise ratio and value threshold. , the signal-to-noise ratio threshold of each channel signal and channel number threshold , select the target grids that meet the requirements from each spatial grid to form a target grid array.

[0085] Exemplarily, step S103 may specifically include the following steps:

[0086] (1) Compare the signal-to-noise ratio value of each channel signal of each spatial grid with the signal-to-noise ratio threshold of each channel signal Compare and count the number of channels that pass the threshold ,in, Used to indicate the number of over-threshold channels corresponding to the i-th spatial grid.

[0087] (2) The signal-to-noise ratio and value of each spatial grid SNR and threshold Make a comparison.

[0088] (3) The number of channels that pass the threshold Threshold value with channel number Make a comparison.

[0089] (4) Selection and The spatial grid is used as the target grid, and each target grid is saved as a target grid array . Among them, the target grid array The i-th element in It is expressed as: . Where i is the array index, represents the center longitude of the grid, represents the center latitude of the grid, Indicates the center height of the grid.

[0090] Step S104, sorting step: sorting the elements in the target grid array in descending order according to the signal-to-noise ratio and value.

[0091] Specifically, step S104 can be based on the signal-to-noise ratio and the value , for the target grid array Sort the elements in descending order.

[0092] Step S105 , selecting a spatial grid having the same signal-to-noise ratio and value as the first element in the target grid array as a candidate grid, and constructing a target distance weight function for each candidate grid according to the distance information from each candidate grid to each radar node.

[0093] Specifically, the target distance weight function is used to determine the distance weight of the candidate grid, which can be constructed according to the distance information from the candidate grid to each radar node, that is, each sensor node.

[0094] Exemplarily, in step S105, a target distance weight function of each candidate grid is constructed according to the distance information from each candidate grid to each radar node, specifically including:

[0095] (1) Calculate the position distance between each candidate grid and the radar node of its corresponding channel , and Stored in array r, where Specifically, it represents the position distance between the radar nodes of the Chth channel corresponding to the i-th candidate grid.

[0096] (2) Based on the position distance array r, calculate the average distance from each candidate grid to each radar node , and Stored in array R, we have , where M represents the total number of candidate grids, It represents the average distance from the i-th candidate grid to each radar node, which can be specifically expressed as .

[0097] (3) Based on the average distance corresponding to each candidate grid, i.e., array R, the target distance weight function of each candidate grid is constructed. Among them, the target distance weight function of the i-th candidate grid is It can be expressed as , It represents the maximum value of the average distances from each candidate grid to each radar node, that is, the maximum value in the array R.

[0098] Step S106, calculating the weighted geometric center of each candidate grid based on the target distance weight function and the pre-constructed target height weight function.

[0099] Specifically, the target height weight function can be constructed in an offline manner before step S101. The step of constructing the target height weight function can specifically include step S001 and step S002.

[0100] Step S001, taking the historical situation information in the multi-radar joint detection common view area as prior knowledge, based on the position information of all detected targets in the historical situation information, the flight height interval [L, H] and the average flight height of all targets in the multi-radar joint detection common view area are counted Where L represents the lowest flight altitude among all target flight altitudes recorded in the historical situation information. H represents the highest flight altitude among all target flight altitudes recorded in the historical situation information. Average flight altitude The calculation method is: . Represents the sum of the height values ​​of all detected targets in the historical situation information. Indicates the number of all detected targets in the historical situation information.

[0101] It should be noted that the historical situation information can be signal-level data, point track data or ADS-B (Automatic Dependent Surveillance-Broadcast) system data obtained by detecting all targets in the common view area of ​​multi-radar joint detection over a period of time in the past.

[0102] Step S002, based on the flight altitude interval [L, H] and the average flight altitude , construct the target height weight function : .in, , h represents the actual target height.

[0103] Exemplarily, step S106 specifically includes: based on the target height weight function And the target distance weight function , according to the following relationship, calculate the longitude Jp, latitude Wp, and altitude Gp of the weighted geometric center (Jp, Wp, Gp) respectively:

[0104] ;

[0105] ;

[0106] .

[0107] in, Indicates the central longitude of the i-th candidate grid. Indicates the central latitude of the i-th candidate grid. Indicates the center height of the i-th candidate grid. represents the target height weight function of the i-th candidate grid, which can be obtained by Replace the h in Get, that is i represents a number and its value range is from 1 to M, where M represents the total number of candidate grids.

[0108] Step S107, select the candidate grid with the smallest straight-line distance to the weighted geometric center as the final grid, store the target information of the final grid into the target set, set the echo value corresponding to each channel in the data matrix corresponding to the final grid to zero, and clear the final grid from the target grid array.

[0109] Specifically, step S107 can select the candidate grid with the smallest straight-line distance to the weighted geometric center (Jp, Wp, Gp) as the final grid, store the target information of the final grid into the target set A, and set the echo values ​​corresponding to each radar channel in the data matrix E corresponding to the final grid to zero, and select the target grid array from the target grid array. Clear the target information corresponding to the final grid, thereby completing the process of removing the target grid array from the target grid array. Clear the relevant information of the final grid. Among them, the target set A can be expressed as . is the oth target in the target set A, expressed as ,in, is the longitude of the oth target, is the latitude of the oth target, is the height of the oth target, is the signal-to-noise ratio and value corresponding to the oth target, is the signal-to-noise ratio of the Channelth channel corresponding to the oth target, and the value range of Channel is 1 to N. O is the number of targets included in the target set A.

[0110] Step S108, calculating the signal-to-noise ratio value of each channel signal of each target grid in the target grid array and the sum of the signal-to-noise ratios of all channel signals according to the data matrix.

[0111] Specifically, step S108 can re-count the target grid array according to the data matrix E. The signal-to-noise ratio of each channel signal of each target grid in And the signal-to-noise ratio and value of all channel signals .

[0112] Step S109, according to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal and the channel number threshold, a new target grid that meets the requirements is selected from the target grid array.

[0113] Specifically, step S109 can be based on the preset signal-to-noise ratio and value threshold. , the signal-to-noise ratio threshold of each channel signal and channel number threshold , from the target raster array Select the target grid that meets the requirements as the new target grid.

[0114] Exemplarily, step S109 may specifically include the following steps:

[0115] (1) Set the target grid array The signal-to-noise ratio value of each channel signal of each target grid in and the signal-to-noise ratio threshold of each channel signal Compare and count the number of channels that pass the threshold .

[0116] (2) Set the target grid array The signal-to-noise ratio and value of each target grid in SNR and threshold Make a comparison.

[0117] (3) The number of channels that pass the threshold Threshold value with channel number Make a comparison.

[0118] (4) Select the target grid array and The target raster of is used as the new target raster.

[0119] Step S110, determining whether there is a new target grid: if so, returning to the sorting step; if not, taking the target information in the target set as the real target information.

[0120] Specifically, in this step, if step S109 is from the target grid array If a target grid that meets the requirements is selected as a new target grid, the process returns to the sorting step, i.e., step S104. The target grid that meets the requirements is selected as the new target grid, then the target information stored in the target set A is the estimated real target information, and false target suppression is completed.

[0121] Compared with the prior art, the false target suppression method provided by the disclosed embodiment, by statistically analyzing the situation information such as the altitude of the real target and the false target with equal SNR and the distance from each radar node, calculates the weight of each target based on the situation information, and calculates the weighted geometric center of the equal SNR target based on the weight, and determines the position of the real target based on the weighted geometric center, which effectively improves the accuracy of false target elimination and further improves the detection performance of the radar system.

[0122] Another embodiment of the present disclosure relates to a false target suppression device, such as Figure 3 As shown, it includes a registration module 301, a first calculation module 302, a first screening module 303, a sorting module 304, a first selection module 305, a weighted geometric center calculation module 306, a second selection module 307, a second calculation module 308, a second screening module 309, and a judgment module 310.

[0123] The registration module 301 is used to read the radar echo data of each channel to form a data matrix, divide the multi-radar joint detection common view area into multiple space grids, and register each channel signal with each space grid based on the data matrix.

[0124] The first calculation module 302 is used to calculate the signal-to-noise ratio value of each channel signal of each spatial grid and the sum of the signal-to-noise ratios of all channel signals according to the signal registration result.

[0125] The first screening module 303 is used to screen target grids that meet the requirements according to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal and the channel number threshold to form a target grid array.

[0126] The sorting module 304 is used to perform a sorting step: sorting each element in the target grid array in descending order according to the signal-to-noise ratio and value.

[0127] The first selection module 305 is used to select a spatial grid having the same signal-to-noise ratio and value as the first element in the target grid array as a candidate grid, and construct a target distance weight function for each candidate grid according to the distance information from each candidate grid to each radar node.

[0128] The weighted geometric center calculation module 306 is used to calculate the weighted geometric center of each candidate grid based on the target distance weight function and the pre-constructed target height weight function.

[0129] The second selection module 307 is used to select the candidate grid with the smallest straight-line distance to the weighted geometric center as the final grid, store the target information of the final grid into the target set, set the echo value corresponding to each channel in the data matrix corresponding to the final grid to zero, and clear the final grid from the target grid array.

[0130] The second calculation module 308 is used to calculate the signal-to-noise ratio value of each channel signal of each target grid in the target grid array and the sum of the signal-to-noise ratios of all channel signals according to the data matrix.

[0131] The second screening module 309 is used to screen new target grids that meet the requirements from the target grid array according to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal, and the channel number threshold.

[0132] The judgment module 310 is used to judge whether there is a new target grid: if so, the sorting module is started to perform the sorting step; if not, the target information in the target set is used as the real target information.

[0133] The specific implementation method of the false target suppression device provided in the embodiment of the present disclosure can refer to the false target suppression method provided in the embodiment of the present disclosure, which will not be repeated here.

[0134] Compared with the prior art, the false target suppression device provided by the disclosed embodiment, by statistically analyzing the situation information such as the altitude of the real target and the false target with equal SNR and the distance from each radar node, uses the situation information to calculate the weight of each target, and calculates the weighted geometric center of the equal SNR target based on the weight, and uses the weighted geometric center to determine the real target position, which effectively improves the accuracy of false target elimination, thereby improving the detection performance of the radar system.

[0135] Another embodiment of the present disclosure relates to an electronic device, such as Figure 4 As shown, including:

[0136] at least one processor 401; and,

[0137] A memory 402 is communicatively connected to at least one processor 401; wherein,

[0138] The memory 402 stores instructions that can be executed by the at least one processor 401 . The instructions are executed by the at least one processor 401 so that the at least one processor 401 can execute the false target suppression method described in the above embodiment.

[0139] Among them, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0140] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0141] Another embodiment of the present disclosure relates to a computer-readable storage medium storing a computer program, which implements the false target suppression method described in the above embodiment when executed by a processor.

[0142] That is, those skilled in the art can understand that all or part of the steps in the method described in the above embodiments can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0143] Another embodiment of the present disclosure relates to a computer program product, including a computer program, and when the computer program is executed by a processor, the false target suppression method described in the above embodiment is implemented.

[0144] Those skilled in the art will appreciate that the above-mentioned embodiments are specific embodiments for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present disclosure.

Claims

1. A false target suppression method, characterized in that: The false target suppression method comprises: Read the radar echo data of each channel to form a data matrix, divide the multi-radar joint detection common view area into a plurality of spatial grids, and align each channel signal with each of the spatial grids based on the data matrix; Calculating the signal-to-noise ratio of each channel signal of each of the spatial grids and the sum of the signal-to-noise ratios of all channel signals according to the signal registration result; According to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal and the channel number threshold, the target grids that meet the requirements are screened to form a target grid array; Sorting step: sorting the elements in the target grid array in descending order according to the signal-to-noise ratio and value; Selecting a spatial grid having the same signal-to-noise ratio and value as the first element in the target grid array as a candidate grid, and constructing a target distance weight function of each candidate grid according to the distance information from each candidate grid to each radar node; Calculating the weighted geometric center of each candidate grid based on the target distance weight function and the pre-constructed target height weight function; Selecting the candidate grid with the smallest straight-line distance to the weighted geometric center as the final grid, storing the target information of the final grid into the target set, setting the echo value corresponding to each channel in the data matrix corresponding to the final grid to zero, and clearing the final grid from the target grid array; Calculating the signal-to-noise ratio value of each channel signal of each target grid in the target grid array and the sum of the signal-to-noise ratios of all channel signals according to the data matrix; According to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal and the channel number threshold, a new target grid that meets the requirements is selected from the target grid array; Determine whether the new target grid exists: if so, return to the sorting step; if not, take the target information in the target set as the real target information; The step of constructing a target distance weight function for each candidate grid according to the distance information from each candidate grid to each radar node includes: Respectively calculating the position distance between each candidate grid and the radar node of its corresponding channel; Based on the position distance, respectively calculating the average distance from each candidate grid to each radar node; Based on the average distance corresponding to each of the candidate grids, construct the target distance weight function of each of the candidate grids; The calculating the weighted geometric center of each candidate grid based on the target distance weight function and the pre-constructed target height weight function includes: According to the following relationship, the longitude Jp, latitude Wp, and altitude Gp of the weighted geometric center are calculated respectively: ； ； ； in, represents the central longitude of the i-th candidate grid; Represents the central latitude of the i-th candidate grid; Represents the center height of the i-th candidate grid; represents the target height weight function of the i-th candidate grid, and , L represents the lowest flight altitude among all target flight altitudes recorded in the historical situation information, and H represents the highest flight altitude among all target flight altitudes recorded in the historical situation information. represents the average flight altitude, Represents the sum of the height values ​​of all detected targets in the historical situation information, Indicates the number of all detected targets in the historical situation information; represents the average distance from the i-th candidate grid to each radar node; represents the target distance weight function of the i-th candidate grid, and , It represents the maximum value of the average distances from each candidate grid to each radar node; i represents the number and the value range of i is 1 to M, and M represents the total number of candidate grids.

2. The false target suppression method according to claim 1, characterized in that: The method of dividing the multi-radar joint detection common view area into a plurality of spatial grids and registering each channel signal with each of the spatial grids based on the data matrix includes: Dividing the multi-radar joint detection common view area into a plurality of spatial grids in three-dimensional space according to preset longitude intervals, latitude intervals, and altitude intervals; According to the azimuth angle, elevation angle and straight-line distance corresponding to each of the spatial grids and each radar node, the distance unit in the data matrix corresponding to each of the spatial grids is calculated to complete the registration of each of the channel signals with each of the spatial grids.

3. The false target suppression method according to claim 1, characterized in that: The method of screening target grids that meet the requirements according to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal, and the channel number threshold to form a target grid array includes: Compare the signal-to-noise ratio value of each channel signal of each of the spatial grids with the signal-to-noise ratio value threshold of each channel signal, and count the number of channels that exceed the threshold; Comparing the signal-to-noise ratio and value of each of the spatial grids with the signal-to-noise ratio and value threshold; Comparing the number of channels that have passed the threshold with the channel number threshold; The spatial grids whose number of channels exceeding the threshold is not less than the channel number threshold and whose signal-to-noise ratio value is not less than the signal-to-noise ratio value threshold are selected as target grids, and each of the target grids is saved as the target grid array.

4. The false target suppression method according to claim 1, characterized in that: The step of selecting a new target grid that meets the requirements from the target grid array according to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal, and the channel number threshold comprises: Compare the signal-to-noise ratio value of each channel signal of each target grid in the target grid array with the signal-to-noise ratio value threshold of each channel signal, and count the number of channels that exceed the threshold; Comparing the signal-to-noise ratio and value of each target grid in the target grid array with the signal-to-noise ratio and value threshold; Comparing the number of channels that have passed the threshold with the channel number threshold; The target grid in the target grid array whose number of channels exceeding the threshold is not less than the channel number threshold and whose signal-to-noise ratio value is not less than the signal-to-noise ratio value threshold is selected as the new target grid.

5. A false target suppression device, characterized in that: The false target suppression device comprises: A registration module is used to read the radar echo data of each channel to form a data matrix, divide the multi-radar joint detection common view area into multiple space grids, and register each channel signal with each of the space grids based on the data matrix; A first calculation module is used to calculate the signal-to-noise ratio value of each channel signal of each of the spatial grids and the sum of the signal-to-noise ratios of all channel signals according to the signal registration result; The first screening module is used to screen target grids that meet the requirements according to a preset signal-to-noise ratio and value threshold, a signal-to-noise ratio value threshold of each channel signal, and a channel number threshold to form a target grid array; A sorting module, used to perform a sorting step: sorting each element in the target grid array in descending order according to the signal-to-noise ratio and value; A first selection module is used to select a spatial grid having the same signal-to-noise ratio and value as the first element in the target grid array as a candidate grid, and construct a target distance weight function of each candidate grid according to the distance information from each candidate grid to each radar node; A weighted geometric center calculation module, used to calculate the weighted geometric center of each candidate grid based on the target distance weight function and the pre-constructed target height weight function; A second selection module is used to select the candidate grid with the smallest straight-line distance to the weighted geometric center as the final grid, store the target information of the final grid into a target set, set the echo value corresponding to each channel in the data matrix corresponding to the final grid to zero, and clear the final grid from the target grid array; A second calculation module, used for calculating the signal-to-noise ratio value of each channel signal of each target grid in the target grid array and the sum of the signal-to-noise ratios of all channel signals according to the data matrix; A second screening module is used to screen new target grids that meet the requirements from the target grid array according to the preset signal-to-noise ratio and value threshold, the signal-to-noise ratio value threshold of each channel signal and the channel number threshold; A judging module, used to judge whether the new target grid exists: if so, start the sorting module to perform the sorting step; if not, take the target information in the target set as the real target information; The step of constructing a target distance weight function for each candidate grid according to the distance information from each candidate grid to each radar node includes: Respectively calculating the position distance between each candidate grid and the radar node of its corresponding channel; Based on the position distance, respectively calculating the average distance from each candidate grid to each radar node; Based on the average distance corresponding to each of the candidate grids, construct the target distance weight function of each of the candidate grids; The calculating the weighted geometric center of each candidate grid based on the target distance weight function and the pre-constructed target height weight function includes: According to the following relationship, the longitude Jp, latitude Wp, and altitude Gp of the weighted geometric center are calculated respectively: ； ； ； in, represents the central longitude of the i-th candidate grid; Represents the central latitude of the i-th candidate grid; Represents the center height of the i-th candidate grid; represents the target height weight function of the i-th candidate grid, and , L represents the lowest flight altitude among all target flight altitudes recorded in the historical situation information, and H represents the highest flight altitude among all target flight altitudes recorded in the historical situation information. represents the average flight altitude, Represents the sum of the height values ​​of all detected targets in the historical situation information, Indicates the number of all detected targets in the historical situation information; represents the average distance from the i-th candidate grid to each radar node; represents the target distance weight function of the i-th candidate grid, and , It represents the maximum value of the average distances from each candidate grid to each radar node; i represents the number and the value range of i is 1 to M, and M represents the total number of candidate grids.

6. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the false target suppression method according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the false target suppression method according to any one of claims 1 to 4 is implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the false target suppression method according to any one of claims 1 to 4 is implemented.

Images